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This commit is contained in:
concordia
2024-02-10 14:46:06 -06:00
parent da6553c24d
commit 829b75411b
2 changed files with 34 additions and 9 deletions
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5
selfdrive/car/hyundai/hyundaicanfd.py
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@@ -41,7 +41,7 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer):
values = {
"LKA_MODE": 2,
"LKA_ICON": 2 if enabled else 1,
"LKA_ICON": 2 if enabled else 1 if lat_active else 0,
"TORQUE_REQUEST": apply_steer,
"LKA_ASSIST": 0,
"STEER_REQ": 1 if lat_active else 0,
@@ -116,7 +116,8 @@ def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
def create_lfahda_cluster(packer, CAN, enabled):
values = {
"HDA_ICON": 1 if enabled else 0,
"LFA_ICON": 3 if enabled else 0, # was green before i think in 2? 3 should be flashing?
# 0 off, 1 gray, 2 green, 3 blinking (wheel icon)
"LFA_ICON": 0 if enabled else 0, # was green before i think in 2? 3 should be flashing?
# "LFA_ICON": 2 if enabled else 0,
}
return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)